He is also accused of kissing a co-star’s neck, breasts, stomach and buttocks on at least 20 occasions during performances.
Prosecutors said it was not part of the role Mr McLachlan was meant to perform.
In another instance, he is accused of kneeling before a woman in her dressing room and telling her she was beautiful and he could not stop thinking of her.
She alleged Mr McLachlan then kissed her on the mouth and she was shocked and did not participate.
He is later accused of telling her he was “so embarrassed” and had “made a fool of myself”.
During one performance, Mr McLachlan also allegedly kissed and forced his tongue into the mouth of a co-star when it was not in the scene.
Afterwards, when the woman said she told him “don’t you ever do that to me again”, McLachlan allegedly replied “you are nothing. I will end you”.
The court was previously told performance was a highly sexualised environment, both on and off stage.
Mr McLachlan was not in court on Monday.
His lawyers earlier argued allegations against him either did not happen or did not amount to indecent assault.
The case is due back in court for further submissions on November 2.
Mr McLachlan previously launched defamation action in NSW against a former co-star, the ABC and the publisher formerly known as Fairfax Media.
That case was delayed until after criminal proceedings against the actor were finalised.